Ciné imaging of coronary vessels using fused CT angiography and 3D rotational angiography images

ABSTRACT

A device for medical imaging of coronary vessels includes a medical imaging device configured to extract a first vessel map from computed tomography angiography data covering at least one reference cardiac phase and a plurality of second vessel maps from three-dimensional rotational angiography data including at least the reference, to generate a plurality of warped versions of the first vessel map aligned with each of second vessel maps, to merge the plurality of warped first vessel maps with corresponding ones of the second vessel maps at different cardiac phases in order to generate a plurality of merged vessel maps of the coronary vessels in the plurality of cardiac cycles.

CROSS-REFERENCE TO PRIOR APPLICATIONS

This application is the U.S. National Phase application under 35 U.S.C.§ 371 of International Application No. PCT/EP2015/055387, filed on Mar.16, 2015, which claims the benefit of European Patent Application No.14305429.4, filed on Mar. 26, 2014. These applications are herebyincorporated by reference herein.

FIELD OF THE INVENTION

The present invention relates to a device and a method for medicalimaging of coronary vessels.

BACKGROUND OF THE INVENTION

U.S. Pat. No. 8,055,044 B2 describes a system for visualization of bloodvessels and bones. One of two data sets, originating from two differentradiological methods is processed to generate interim results, yieldedby an operation on one of the data sets. The interim results are used tomodify the other data set. Different imaging capabilities of theemployed radiological methods promote a particular task, e.g. thesegmentation of a given type of tissue.

When the combined data of both methods is displayed, clinical usersbenefit from the complementary information. It is conducted, that onlyrelevant information is presented to the user, as to avoid irrelevantdata obscuring any data of interest. Therefore, the data to be displayedis further filtered based on content, e.g. the type of tissue, and onlocation. Three-dimensional computer tomography and three-dimensionalrotational angiography are particularly applicable radiological methods.

U.S. 2009/0123046 A1 describes a system and a method of generatingintraoperative three-dimensional image data including the processes ofacquiring baseline three-dimensional image data of a region of interest.Non-contrast three-dimensional image data of the region andintra-operative two-dimensional image data of the region are acquired inaddition.

The intra-operative two-dimensional image data and the baselinethree-dimensional image data are each aligned to the non-contrastthree-dimensional image data, whereby a rendering of intra-operativethree-dimensional image data results from the alignment of both thebaseline three-dimensional and intra-operative two-dimensional imagedata to the non-contrast three-dimensional image data.

U.S. 2009/093712 A1 describes a method for navigating a catheter with acatheter tip through a blockage region in a vessel, especially acoronary vessel, whereby the catheter is pushed forward under real-timeradiological observation. For this purpose, a three-dimensional paththrough the blockage region is determined by reference to a set ofsectional images or a three-dimensional representation of the blockageregion, recorded beforehand as part of a preliminary investigation,whereby a data set including the path coordinates is brought intoregister with the real-time radiological images, and whereby the path ora projection of the path is visualized on a display, overlaid on thereal-time radiological images.

An article by Quatember, Bernhard, et al., “Development of an AccurateMethod for Motion Analyses of the Heart Wall Based on Medical Imagery”,Computer Aided Systems Theory EUROCAST 2011, Springer Berlin Heidelberg,pp. 248-255, (hereinafter “document D1” or “D1”) describes a techniquefor tracking and analyzing the regional motion of the epicardial surfaceof the heart throughout the cardiac cycle, based on cardiac CT andbiplane cineangiography. The epicardial surface is segmented from 3D CTdata. Selected bifurcation points of the epicardial arteries are definedas landmarks. Based on these landmarks, the epicardical surface isregistered to a 3D reconstruction of the coronary artery tree made fromthe biplane cineangiograms. The initial registration is used as a basisfor a time series of transformations of the epicardial surfacethroughout the cardiac cycle.

The recanalization of chronically total occluded, CTO, coronary arteriesis one of the most difficult percutaneous interventions, because thecourse of the occluded part of the vessel is invisible in angiography.The occluded portion being visible in computed tomography angiography,CTA, exams, it has been proposed to extract a complete map of thecoronary arteries from the computed tomography, CT, and to present italigned with the angiography to help planning and navigation in the cathlab.

However, cardiac CTA are only performed at diastole in practice. As aresult, the complete coronary map is only available at one heart phase.This is an important limitation for some applications likethree-dimensional cardiac road-mapping in the case of CTO.

SUMMARY OF THE INVENTION

There may be a need to improve the digital image processing for medicalimaging of coronary vessels and coronary mapping.

An aspect of the invention relates to a device for medical imaging ofcoronary vessels, the device comprising: a data extracting moduleconfigured to extract a first vessel map from computed tomographyangiography data covering at least one reference cardiac phase and a setof second vessel maps from three-dimensional rotational angiography datacovering at least one cardiac cycle; an interpolation module configuredto generate a series of warped versions of the first vessel map alignedwith the set of second vessel maps, the series starting at the at leastone reference cardiac phase; and a merging module configured to mergethe series and the set of second vessel maps at the different phases inorder to generate a final imaging map of the coronary vessels.

A further aspect of the invention relates to an X-ray medical imagingsystem comprising a computed tomography angiography device providingcomputed tomography angiography data, a three-dimensional rotationalangiography device providing three-dimensional rotational angiographydata and a device for medical imaging of coronary vessels.

A further aspect of the invention relates to a method for medicalimaging of coronary vessels, the method comprising the steps of:extracting a first vessel map from computed tomography angiography datacovering at least one cardiac phase and a set of second vessel maps fromthree-dimensional rotational angiography data covering at least onecardiac cycle; generating a series of versions the first vessel mapbased on estimated motions of the coronary vessels and the initialalignment of both datasets at the at least one reference phase;interpolating the set of second vessel maps from the reference cardiacphase to any other phase based on the estimated motions of the coronaryvessels; and merging the series and the set of second vessel maps atdifferent phases in order to generate a final imaging map of thecoronary vessels.

The present invention provides an approach to rely on a C-arm CTreconstruction of three-dimensional rotational angiography of thecoronary arteries to generate a complete multiphase map. Indeed,accurate three-dimensional maps of the injected coronaries (over whichthe occluded segments are invisible) can be extracted from thethree-dimensional rotational angiography, 3DRA, at any given heartphase.

The present invention provides to warp the CTA coronary map over each ofthe 3DRA coronary maps, in order to generate accurate multiphasecoronary maps that show the occluded vessel segments. In other words, afinal imaging map of the coronary vessels is generated, in which vesselsegments that are occluded in the 3DRA vessel maps have been madevisible based on their appearance in the CT vessel map.

The present invention advantageously provides to rely on a set of secondcoronary vessel maps, which presents the opposite characteristics: theycan be extracted accurately at any given heart phase, but they show onlythe vessel parts that are injected—and thus miss the occluded parts.These second coronary maps can be gained from a 3DRA, typically an X-perswing acquisition or any other single or dual axis rotational coronaryangiography.

The present invention advantageously provides to create coronary vesselmaps that combine the advantage of the CTA-based and the 3DRA-basedmaps. In a first step, both maps are registered at diastole, when thearteries geometry is similar. In a second step, the motion from thearteries is estimated from the 3DRA maps, and applied to the CTA-maps inorder to create the missing phases of the CTA-maps. Finally, both mapsare merged.

The present invention advantageously protects the alignment of theCTA-based coronary map with the 3DRA-based coronary map; the coronaryvessel maps could be aligned directly, without going through the twophase's motion compensation.

The present invention can be advantageously applied for treatments ofcoronary chronic total occlusions, in short CTO treatments, in PCI,percutaneous coronary intervention. The multiphase coronary maps can forinstance be displayed in real time next to the fluoroscopic image.Alternatively, they can be properly positioned and overlaid over thefluoroscopic image (three-dimensional road-mapping).

The present invention may be advantageously applied to C-arm basedsystems any other single or dual axis rotational coronary angiographysystem.

According to an exemplary embodiment of the invention, the dataextracting module is configured to extract the first vessel map from thecomputed tomography angiography data covering a diastole of the cardiaccycle as the at least one reference cardiac phase.

According to an exemplary embodiment of the invention, the interpolationmodule is configured to, at reference cardiac phase, register from thefirst vessel map to the set of second vessel maps maps and tointerpolate from the reference cardiac phase to any other phase based onmotions of the coronary vessels estimated of the set of second vesselmaps. This advantageously provides to create coronary maps that combinethe advantage of the CTA-based and the 3DRA-based maps.

According to an exemplary embodiment of the invention, the interpolationmodule is configured to align the first map and the set of second mapsby aligning common branches of the coronary vessels. This isadvantageously applied for treatments of coronary chronic totalocclusions.

According to an exemplary embodiment of the invention, the mergingmodule is configured to merge the warped series and the set of secondmaps by applying successively estimated motions over the first vesselmap. This advantageously generates accurate multiphase coronary mapsthat show the occluded vessel segments.

According to an exemplary embodiment of the invention, the mergingmodule is configured to add calcified or otherwise occluded part of thevessels, visible in the first vessel map (e.g. a CT vessel map), tomoving vessels detected on the set of second vessel maps (e.g. a set of3DRA vessel maps covering an entire cardiac cycle)

According to an exemplary embodiment of the invention, the at least onecardiac phase is a diastole of the cardiac cycle.

According to an exemplary embodiment of the invention, at the referencecardiac phase, the step of registering from the first map to the set ofsecond maps is conducted. This advantageously provides to createcoronary maps that combine the advantage of the CTA-based and the3DRA-based maps.

According to an exemplary embodiment of the invention, the step ofmerging of the series and the set of second maps is conducted byaligning common branches of the coronary vessels.

According to an exemplary embodiment of the invention, the step ofmerging the series and the set of second maps is conducted by applyingsuccessively estimated motions. This advantageously generates accuratemultiphase coronary maps that show the occluded vessel segments.

According to an exemplary embodiment of the invention, the step ofmerging adds calcified part of the vessels, visible in the first vesselmap, to the moving vessels detected on the set of second maps.

According to an exemplary embodiment of the invention, the methodfurther comprises the step of visualizing the final imaging map of thecoronary vessels. This advantageously provides visualization of vesselsegments occluded in the set of second maps.

The invention further relates to medical imaging of coronary vessels asused for molecular diagnostics, molecular pathology, in particular forcardiac applications, biological sample analysis, chemical sampleanalysis, food analysis, and/or forensic analysis. Molecular diagnosticsmay for example be accomplished with the help of magnetic beads orfluorescent particles that are directly or indirectly attached to targetmolecules.

The computer program may be stored on a computer-readable medium. Acomputer-readable medium may be a floppy disk, a hard disk, a CD, a DVD,an USB (Universal Serial Bus) storage device, a RAM (Random AccessMemory), a ROM (Read Only Memory) and an EPROM (Erasable ProgrammableRead Only Memory). A computer-readable medium may also be a datacommunication network, for example the Internet, which allowsdownloading a program code.

The methods, systems and devices described herein may be implemented assoftware in a Digital Signal Processor, DSP, in a micro-controller or inany other side-processor or as hardware circuit within an applicationspecific integrated circuit, ASIC.

The invention can be implemented in digital electronic circuitry, or incomputer hardware, firmware, software, or in combinations thereof, e.g.in available hardware of conventional mobile devices or in new hardwarededicated for processing the methods described herein.

A more complete appreciation of the invention and the attendantadvantages thereof will be more clearly understood by reference to thefollowing schematic drawings, which are not to scale, wherein:

FIG. 1 shows a schematic flowchart diagram of a method for medicalimaging of coronary vessels according to an exemplary embodiment of theinvention;

FIG. 2 shows a schematic flowchart diagram of a method for medicalimaging of coronary vessels according to an exemplary embodiment of theinvention;

FIG. 3 shows a schematic diagram of a device for medical imaging ofcoronary vessels according to an exemplary embodiment of the invention;and

FIG. 4 shows a schematic diagram of an X-ray medical imaging system formedical imaging of coronary vessels according to an exemplary embodimentof the invention.

DETAILED DESCRIPTION OF EMBODIMENTS

The illustration in the drawings is schematically and not to scale. Indifferent drawings, similar or identical elements are provided with thesame reference numerals. Generally, identical parts, units, entities orsteps are provided with the same reference symbols in the figures.

FIG. 1 shows a schematic flowchart diagram of a method for medicalimaging of coronary vessels according to an exemplary embodiment of theinvention.

The method is visualized in terms of a function block diagram. Afunction block contains input variables, output variables, throughvariables, internal variables, and an internal behavior description ofthe function block. Function blocks are used primarily to specify theproperties of a user function. Many software languages, are based onfunction blocks.

The method or function block 100 may comprise, as sub-elements, foursteps S1, S2, S3, S4 or four function blocks 101, 102, 103, 104:

In a first function block 101, corresponding to the first step S1 asshown in FIG. 2, a coronary maps extraction is conducted, wherein thecoronary maps extraction may be conducted in both in CTA and 3DRA data.

The output of this first step may be the following:

-   -   a first vessel map from computed tomography angiography data,        called map MC, corresponding to one heart phase (diastole) or        any other reference point with any phase, and on which the        missing vessel parts are visible.    -   a series of second maps MX(ϕ) from the 3DRA, corresponding to        different phases (I) (as asked by the user, or required by the        application). They present a superior spatial resolution, but        the non-injected vessel parts (mainly, the occluded coronary        segments) are invisible on it.

In a second function block 102, corresponding to the second step S2 asshown in FIG. 2, a coronary maps registration at diastole may beconducted.

Aligning the common branches of the maps MC and MX(diastole) may beconducted. Most of the branches are visible on both maps (the onlyexceptions being of the occluded segments).

Several algorithms exist to perform that step differing in particular inthe type of motions they are considering, from rigid to very local.These algorithms preferably are initialized by an approximate knowledgeon the pose of the patient under examination when both volumes (CTA and3DRA) were acquired.

In a third function block 103, corresponding to the third step S3 asshown in FIG. 2, a registration of the 3DRA coronary maps at differentphases is conducted. Herewith, registering the branches from the mapsMX(diastole) and MX(ϕ) is performed.

It may also be possible to register maps of successive phases, then topropagate the estimated motions (from diastole to diastole+1, . . . ,ϕ−2 to ϕ−1 and ϕ−1 to ϕ)), and potentially to refine that motion, thanto directly register from the diastole to ϕ.

According to a further exemplary embodiment of the present invention,the same algorithms used in the previous step or function block can alsobe used here, though the constraint on robustness can be relaxed (noextra branch, for instance, calcified, are expected from one map to thenext).

In a fourth function block 104, corresponding to the fourth step S4 asshown in FIG. 2, coronary maps alignment and fusion may be performed.

By applying successively the estimated motions over MC, we first warp itfrom the CTA world to the 3DRA map (for instance at diastole), and thenfrom the diastole to the considered phase. The resulting map MC′ (ϕ) isperfectly aligned with MX(ϕ). Finally, merging both maps is performed bypreserving the information of interest that are present in both types ofcoronary maps

A further implementation would display MC′(ϕ). In that case, generatinga 3D+t multiphase coronary map from the CT aligned with the cath lab isperformed. A catheterization laboratory or cath lab is an examinationroom in a hospital or clinic with diagnostic imaging equipment used tovisualize the arteries of the heart. The generating of the 3D+tmultiphase could be used as a live multiphase roadmap for the CTOtreatment, for instance.

According to an exemplary embodiment of the invention, the coronary mapsgained from the X-per swing present a superior spatial resolution.Analyzing the maps MC′ for the occluded segments may be performed,wherein those that are not present in MX are processed, extracted andadded to the maps MX. The augmented 3D+t multiphase MX maps may befurther added.

According to an exemplary embodiment of the invention, the finallymerged maps do not need to be restricted to pure geometrical aspects.Information about the nature of the plaque (gained from the CTA) canalso be used there.

FIG. 2 shows a schematic flowchart diagram of a method for medicalimaging of coronary vessels according to an exemplary embodiment of theinvention.

The method for medical imaging of coronary vessels may comprise thefollowing steps.

As a first step of the method, extracting S1 a first vessel map fromcomputed tomography angiography data covering at least one cardiac phaseand a set of second vessel maps from three-dimensional rotationalangiography data covering at least one cardiac cycle is conducted.

As a second step of the method, generating S2 a series of warpedversions of the first vessel map based on the alignment of the coronaryvessels is performed.

As a third step of the method, interpolating S3 the set of second mapsfrom the reference cardiac phase to any other phase based on theestimated motions of the coronary vessels is performed.

As a fourth step of the method, merging S4 the series and the set ofsecond maps at different phases in order to generate a final imaging mapof the coronary vessels is conducted.

According to an exemplary embodiment of the invention, these steps maybe mixed or simultaneously processed.

FIG. 3 shows a schematic diagram of a device for medical imaging ofcoronary vessels according to an exemplary embodiment of the invention.

A device 300 for medical imaging of coronary vessels may comprise a dataextracting module 301 configured to extract a first vessel map fromcomputed tomography angiography data covering at least one referencecardiac phase and a set of second vessel maps from three-dimensionalrotational angiography data covering at least one cardiac cycle.

The device may further comprise an interpolation module 302 configuredto generate a series of warped versions of the first map aligned withthe set of second maps, the series starting at the at least onereference cardiac phase.

Further, the device may comprise a merging module 303 configured tomerge the series and the set of second maps at the different phases inorder to generate a final imaging map of the coronary vessels.

FIG. 4 shows a schematic diagram of an X-ray medical imaging system formedical imaging of coronary vessels according to an exemplary embodimentof the invention.

An X-ray medical imaging system 1000 may comprise a computed tomographyangiography device 400 providing computed tomography angiography data, athree-dimensional rotational angiography device 400 providingthree-dimensional rotational angiography data and a device 300 formedical imaging of coronary vessels. Contrary to the embodiment asdepicted in FIG. 4, the computed tomography angiography device 400 andthe three-dimensional rotational angiography device 400 may beconstructed as separated and single units.

In another exemplary embodiment of the present invention, a computerprogram or a computer program element is provided that is characterizedby being adapted to control the device 300 to execute the method stepsof the method according to one of the preceding embodiments, on anappropriate computer processor system.

According to a further exemplary embodiment of the present invention,the computer program element might therefore be stored on a computerunit, which might also be part of an embodiment of the presentinvention. This computing unit may be adapted to perform or induce aperforming of the steps of the method described above.

Moreover, it may be adapted to operate the components of the abovedescribed apparatus. The computing unit can be adapted to operateautomatically and/or to execute the orders of a user. A computer programmay be loaded into a working memory of a data processor. The dataprocessor may thus be equipped to carry out the method of the invention.

This exemplary embodiment of the invention covers both, a computerprogram that right from the beginning uses the invention and a computerprogram that by means of an up-date turns an existing program into aprogram that uses the invention.

Further on, the computer program element might be able to provide allnecessary steps to fulfill the procedure of an exemplary embodiment ofthe method as described above.

According to a further exemplary embodiment of the present invention, anon-transitory computer readable medium, such as a CD-ROM, is presentedwherein the computer readable medium has a computer program elementstored on it, which computer program element is described by thepreceding section.

A computer program may be stored and/or distributed on a suitablemedium, such as an optical storage medium or a solid state mediumsupplied together with or as part of other hardware, but may also bedistributed in other forms, such as via the internet or other wired orwireless telecommunication systems.

However, the computer program may also be presented over a network likethe World Wide Web and can be downloaded into the working memory of adata processor from such a network.

According to a further exemplary embodiment of the present invention, amedium for making a computer program element available for downloadingis provided, which computer program element is arranged to perform amethod according to one of the previously described embodiments of theinvention.

It has to be noted that embodiments of the invention are described withreference to different subject matters. In particular, some embodimentsare described with reference to method type claims whereas otherembodiments are described with reference to the device type claims.

However, a person skilled in the art will gather from the above and thefollowing description that, unless otherwise notified, in addition toany combination of features belonging to one type of subject matter alsoany combination between features relating to different subject mattersis considered to be disclosed with this application. However, allfeatures can be combined providing synergetic effects that are more thanthe simple summation of the features.

While the invention has been illustrated and described in detail in thedrawings and foregoing description, such illustration and descriptionare to be considered illustrative or exemplary and not restrictive; theinvention is not limited to the disclosed embodiments. Other variationsto the disclosed embodiments can be understood and effected by thoseskilled in the art and practicing the claimed invention, from a study ofthe drawings, the disclosure, and the appended claims.

In the claims, the word “comprising” does not exclude other elements orsteps, and the indefinite article “a” or “an” does not exclude aplurality. A single processor or controller or other unit may fulfillthe functions of several items recited in the claims. The mere fact thatcertain measures are recited in mutually different dependent claims doesnot indicate that a combination of these measures cannot be used toadvantage. Any reference signs in the claims should not be construed aslimiting the scope.

The invention claimed is:
 1. An X-ray medical imaging system comprising:a computed tomography angiography (CTA) device configured to generate athree-dimensional computed tomography angiography (3D CTA) data in areference cardiac phase of coronary vessels in which calcium depositscontained therein are visible; a three-dimensional rotationalangiography (3DRA) device configured to generate 3DRA data of thecoronary vessels in which calcium deposits contained therein areinvisible and contrast agent contained therein is visible; a medicalimaging device configured to: extract a first 3D vessel map from the 3DCTA data corresponding to the reference cardiac phase, the first 3Dvessel map from the 3D CTA data including the coronary vessels and thecalcium deposits; extract second 3D vessel maps from the 3DRA datacorresponding to a plurality of cardiac phases that includes thereference cardiac phase, the second 3D vessel maps including thecoronary vessels; register a second 3D vessel map of the second 3Dvessel maps with the first 3D vessel map from the 3D CTA data, thesecond 3D vessel map corresponding to the reference cardiac phase, toalign the coronary vessels in the second 3D vessel map in the referencecardiac phase with the coronary vessels in the first 3D vessel map inthe reference cardiac phase; register the second 3D vessel map of thesecond 3D vessel maps with other second 3D vessel maps of the second 3Dvessel maps, the other second 3D vessel maps corresponding to othercardiac phases of the plurality of cardiac phases, to estimate motion ofthe coronary vessels relative to the reference cardiac phase over theplurality of cardiac phases; warp the first 3D vessel map to the second3D vessel maps corresponding to the plurality of cardiac phases based onthe estimated motion of the coronary vessels relative to the referencecardiac phase to generate a plurality of first warped 3D vessel maps,each first warped 3D vessel map corresponding to another cardiac phaseof the plurality of cardiac phases; and merge each one of the pluralityof the first warped 3D vessel maps with each of the second 3D vesselmaps to generate a plurality of merged vessel maps in the plurality ofcardiac phases.
 2. The x-ray imaging system according to claim 1,wherein the CTA device and the 3DRA device are a common rotational C-armx-ray device.
 3. A method for medical imaging of coronary vessels, themethod comprising the steps of: extracting a first 3D vessel map from 3Dcomputed tomography angiography (CTA) data corresponding to a referencecardiac phase, the first 3D vessel map from the 3D CTA data includingcoronary vessels; extracting second 3D vessel maps fromthree-dimensional rotational angiography (3DRA) data corresponding to aplurality of cardiac phases that include the reference cardiac phase,the second 3D vessel maps including the coronary vessels; registering asecond 3D vessel map of the second 3D vessel maps with the first 3Dvessel map from the CTA data, the second 3D vessel map corresponding tothe reference cardiac phase, to align the coronary vessels in the second3D vessel map in the reference cardiac phase with the coronary vesselsin the first 3D vessel map in the reference cardiac phase; registeringthe second 3D vessel map of the second 3D vessel maps with other second3D vessel maps of the second 3D vessel maps, the other second 3D vesselmaps corresponding to other cardiac phases of the plurality of cardiacphases, to estimate motion of the coronary vessels relative to thereference cardiac phase over the plurality of cardiac phases; warpingthe first 3D vessel map corresponding to the plurality of cardiac phasesbased on the estimated motion of the coronary vessels relative to thereference cardiac phase to generate a plurality of first warped 3Dvessel maps, each first warped 3D vessel map corresponding to anothercardiac phase of the plurality of cardiac phases; and merging each oneof the plurality of first warped 3D vessel maps with the second 3Dvessel maps to generate a plurality of merged vessel maps in theplurality of cardiac phases.
 4. The method for medical imaging ofcoronary vessels according to claim 3, wherein the reference cardiacphase is a diastole of a cardiac cycle.
 5. The method for medicalimaging of coronary vessels according to claim 3, wherein the second 3Dvessel maps are contrast enhanced images in which calcium deposits arenot visible and wherein the merging adds calcium deposits visible in thefirst 3D vessel map to the second 3D vessel maps.
 6. The method formedical imaging of coronary vessels according to claim 3, whereinmerging the first warped 3D vessel map with the second 3D vessel maps isconducted by aligning common branches of the coronary vessels.
 7. Themethod for medical imaging of coronary vessels according to claim 6,wherein the step of merging the first warped 3D vessel map with thesecond vessel maps includes applying successively estimated motions. 8.The method for medical imaging of coronary vessels according to claim 7,wherein the merging includes: adding calcified parts of the coronaryvessels, visible in the first 3D vessel map, to the coronary vessels ofthe set of second 3D vessel maps.
 9. The method for medical imaging ofcoronary vessels according to claim 8, wherein the method furthercomprises the step of visualizing the plurality of merged vessel maps ofthe coronary vessels.
 10. A non-transitory computer-readable mediumstoring a computer program which, when run on a data processor, performsthe method according to claim
 3. 11. A data processor programmed toperform the method according to claim 3.